mirror of
https://github.com/PX4/PX4-Autopilot.git
synced 2026-07-24 15:27:41 +08:00
4b8198fd14
Add a host tool that replays a recorded .ulg through the real MotorFailureDetector
and prints the per-motor trip verdict, for validating and tuning the detector
offline (EKF2-replay style: the real library drives recorded data, not a
re-implementation).
Built on ulog_cpp (PX4's C++ ULog library, added as a git submodule and built for
the posix host target only), so it reads ESC current, motor command and arming
state by field name from the log's own format -- one binary replays logs of any
PX4 message version with no rebuild. The feed mirrors the runtime in escCheck:
evaluated only while armed, at the runtime's 10 Hz cadence, with the per-ESC
current-report startup latch and reset-on-disarm. Config comes from the log's
MOTFAIL_* parameters with a built-in calibration fallback, and --set
MOTFAIL_NAME=value overrides any knob for what-if retuning. Because the runtime's
exact 10 Hz sample phase cannot be reconstructed offline, a single pass over the log
drives several detector instances on staggered grid offsets and reports a per-motor
peak band and trip fraction rather than a single phase's verdict, flagging when the
result is phase-dependent.
batch_replay.sh runs the tool over a folder of logs and summarizes each verdict
(OK / FAIL / SKIP) from its exit code.
Off by default so it never enters the firmware build or CI: it is a posix-only,
EXCLUDE_FROM_ALL host executable gated behind the MFD_REPLAY_TOOL cache option.
Build it with:
cmake -DMFD_REPLAY_TOOL=ON build/px4_sitl_default
ninja -C build/px4_sitl_default mfd_replay
128 lines
5.3 KiB
Plaintext
128 lines
5.3 KiB
Plaintext
[submodule "src/modules/mavlink/mavlink"]
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path = src/modules/mavlink/mavlink
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url = https://github.com/mavlink/mavlink.git
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branch = master
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[submodule "Tools/simulation/jmavsim/jMAVSim"]
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path = Tools/simulation/jmavsim/jMAVSim
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url = https://github.com/PX4/jMAVSim.git
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branch = main
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[submodule "Tools/simulation/gazebo-classic/sitl_gazebo-classic"]
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path = Tools/simulation/gazebo-classic/sitl_gazebo-classic
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url = https://github.com/PX4/PX4-SITL_gazebo-classic.git
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branch = main
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[submodule "src/drivers/gps/devices"]
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path = src/drivers/gps/devices
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url = https://github.com/PX4/PX4-GPSDrivers.git
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branch = main
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[submodule "platforms/nuttx/NuttX/nuttx"]
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path = platforms/nuttx/NuttX/nuttx
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url = https://github.com/PX4/NuttX.git
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branch = px4_firmware_nuttx-10.3.0+
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[submodule "platforms/nuttx/NuttX/apps"]
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path = platforms/nuttx/NuttX/apps
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url = https://github.com/PX4/NuttX-apps.git
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branch = px4_firmware_nuttx-10.3.0+
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[submodule "Tools/flightgear_bridge"]
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path = Tools/simulation/flightgear/flightgear_bridge
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url = https://github.com/PX4/PX4-FlightGear-Bridge.git
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[submodule "Tools/simulation/jsbsim/jsbsim_bridge"]
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path = Tools/simulation/jsbsim/jsbsim_bridge
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url = https://github.com/PX4/px4-jsbsim-bridge.git
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[submodule "src/drivers/cyphal/libcanard"]
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path = src/drivers/cyphal/libcanard
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url = https://github.com/opencyphal/libcanard.git
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[submodule "src/drivers/cyphal/public_regulated_data_types"]
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path = src/drivers/cyphal/public_regulated_data_types
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url = https://github.com/opencyphal/public_regulated_data_types.git
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[submodule "src/drivers/cyphal/legacy_data_types"]
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path = src/drivers/cyphal/legacy_data_types
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url = https://github.com/PX4/public_regulated_data_types.git
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branch = legacy
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[submodule "src/lib/crypto/monocypher"]
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path = src/lib/crypto/monocypher
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url = https://github.com/PX4/Monocypher.git
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branch = px4
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[submodule "src/lib/events/libevents"]
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path = src/lib/events/libevents
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url = https://github.com/mavlink/libevents.git
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branch = main
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[submodule "src/lib/crypto/libtomcrypt"]
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path = src/lib/crypto/libtomcrypt
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url = https://github.com/PX4/libtomcrypt.git
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branch = px4
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[submodule "src/lib/crypto/libtommath"]
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path = src/lib/crypto/libtommath
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url = https://github.com/PX4/libtommath.git
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branch = px4
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[submodule "src/modules/uxrce_dds_client/Micro-XRCE-DDS-Client"]
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path = src/modules/uxrce_dds_client/Micro-XRCE-DDS-Client
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url = https://github.com/PX4/Micro-XRCE-DDS-Client.git
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branch = px4
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[submodule "src/lib/cdrstream/cyclonedds"]
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path = src/lib/cdrstream/cyclonedds
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url = https://github.com/px4/cyclonedds
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[submodule "src/lib/cdrstream/rosidl"]
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path = src/lib/cdrstream/rosidl
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url = https://github.com/px4/rosidl
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[submodule "src/modules/zenoh/zenoh-pico"]
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path = src/modules/zenoh/zenoh-pico
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url = https://github.com/px4/zenoh-pico
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branch = dev/1.0.0-px4
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[submodule "src/lib/heatshrink/heatshrink"]
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path = src/lib/heatshrink/heatshrink
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url = https://github.com/PX4/heatshrink.git
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branch = px4
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[submodule "src/modules/uxrce_dds_client/Micro-XRCE-DDS-Client-v3"]
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path = src/modules/uxrce_dds_client/Micro-XRCE-DDS-Client-v3
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url = https://github.com/PX4/Micro-XRCE-DDS-Client.git
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branch = px4-release/3
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[submodule "Tools/simulation/gz"]
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path = Tools/simulation/gz
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url = https://github.com/PX4/PX4-gazebo-models.git
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branch = main
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[submodule "boards/modalai/voxl2/libfc-sensor-api"]
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path = boards/modalai/voxl2/libfc-sensor-api
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url = https://gitlab.com/voxl-public/voxl-sdk/core-libs/libfc-sensor-api.git
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[submodule "src/drivers/actuators/vertiq_io/iq-module-communication-cpp"]
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path = src/drivers/actuators/vertiq_io/iq-module-communication-cpp
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url = https://github.com/PX4/iq-module-communication-cpp.git
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branch = master
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[submodule "src/drivers/uavcan/libdronecan/dsdl"]
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path = src/drivers/uavcan/libdronecan/dsdl
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url = https://github.com/PX4/DSDL.git
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[submodule "src/drivers/uavcan/libdronecan/libuavcan/dsdl_compiler/pydronecan"]
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path = src/drivers/uavcan/libdronecan/libuavcan/dsdl_compiler/pydronecan
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url = https://github.com/dronecan/pydronecan
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[submodule "test/fuzztest"]
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path = test/fuzztest
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url = https://github.com/google/fuzztest.git
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branch = main
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[submodule "src/lib/tensorflow_lite_micro/tflite_micro"]
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path = src/lib/tensorflow_lite_micro/tflite_micro
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url = https://github.com/PX4/tflite-micro.git
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branch = main
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[submodule "src/drivers/ins/microstrain/mip_sdk"]
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path = src/drivers/ins/microstrain/mip_sdk
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url = https://github.com/PX4/LORD-MicroStrain_mip_sdk.git
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[submodule "src/drivers/ins/sbgecom/sbgECom"]
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path = src/drivers/ins/sbgecom/sbgECom
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url = https://github.com/PX4/sbgECom.git
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[submodule "src/modules/mc_raptor/blob"]
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path = src/modules/mc_raptor/blob
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url = https://github.com/rl-tools/px4-blob
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[submodule "src/lib/rl_tools/rl_tools"]
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path = src/lib/rl_tools/rl_tools
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url = https://github.com/rl-tools/rl-tools.git
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[submodule "libmodal-json"]
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path = boards/modalai/voxl2/src/lib/mpa/libmodal-json
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url = https://gitlab.com/voxl-public/voxl-sdk/core-libs/libmodal-json.git
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[submodule "libmodal-pipe"]
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path = boards/modalai/voxl2/src/lib/mpa/libmodal-pipe
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url = https://gitlab.com/voxl-public/voxl-sdk/core-libs/libmodal-pipe.git
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[submodule "src/modules/simulation/gz_plugins/optical_flow/PX4-OpticalFlow"]
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path = src/modules/simulation/gz_plugins/optical_flow/PX4-OpticalFlow
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url = https://github.com/PX4/PX4-OpticalFlow.git
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[submodule "src/lib/ulog_cpp"]
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path = src/lib/ulog_cpp
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url = https://github.com/PX4/ulog_cpp.git
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